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Ruckig smoothing cleanup #1111

Merged
merged 12 commits into from
Apr 12, 2022
Merged

Ruckig smoothing cleanup #1111

merged 12 commits into from
Apr 12, 2022

Commits on Apr 12, 2022

  1. Simplify. Use Ruckig as a check if duration needs extension.

    AndyZe committed Apr 12, 2022
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  2. Add a test for a single waypoint

    AndyZe committed Apr 12, 2022
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  3. Add a unit test that actually requires math

    AndyZe committed Apr 12, 2022
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  4. Use a traj deep copy. Right-const everywhere. Minor cleanup.

    AndyZe committed Apr 12, 2022
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  5. Fix the test timestep

    AndyZe committed Apr 12, 2022
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  6. Read jerk from the robot model

    AndyZe committed Apr 12, 2022
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  7. Revert to right-const everywhere

    AndyZe committed Apr 12, 2022
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  8. Simplify jerk limit expression 

    Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
    @AndyZe @henningkayser
    2 people authored and AndyZe committed Apr 12, 2022
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  9. Add a helpful hint if no vel/accel/jerk limits are defined.

    AndyZe committed Apr 12, 2022
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  10. Update test conditions since I changed the jerk limit

    AndyZe committed Apr 12, 2022
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  11. Rebase cleanup

    AndyZe committed Apr 12, 2022
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  12. Merge branch 'main' into andyz/duration_calc

    AndyZe committed Apr 12, 2022
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